한국해양대학교

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UDR을 위한 하드웨어 설계 연구

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dc.contributor.author TRANNGOCHUY -
dc.date.accessioned 2017-02-22T05:18:31Z -
dc.date.available 2017-02-22T05:18:31Z -
dc.date.issued 2012 -
dc.date.submitted 56987-11-06 -
dc.identifier.uri http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002174469 ko_KR
dc.identifier.uri http://repository.kmou.ac.kr/handle/2014.oak/8501 -
dc.description.abstract This paper introduces the new development of an Underwater Disk Robot (UDR) performing robust underwater motion under multi-directional disturbances. This is a new idea to overcome the underwater robot disadvantages which are motions, disturbance effect on the side. The UDR is six-DOF model composed of a frame structure include control system, sensor system ,four vertical actuators for heaving, rolling, pitching, rotating motion and three low-cost thrusters were developed for robust surging, swaying motion. Three thrusters are disposed symmetrically by 120 degrees to navigate along any directions by robust vector propulsion control scheme. The UDR is designed as a disk shaped vehicle to be less affected by external disturbances such as currents and waves. A control system including PID motion controller and sensor systems using depth sensor and low-cost AHRS sensor are developed. -
dc.description.tableofcontents Chapter 1 Introduction 7 1.1 Motivation 7 1.2 Aim and Scope 9 Chapter 2 Modeling of the UDR 10 2.1 Design UDR 10 2.2 Elements of the governing equations 13 2.3 Vector actuation analysis 18 Chapter 3 Hardware Design 20 3.1 Microcontroller 20 3.2 Actuators and Equipments 23 3.3 Sensor 31 3.4 UDR System 37 Chapter 4 Theoretical Background 39 4.1 Attitude and Heading representation 39 4.2 Kalman Filter 43 4.3 Proportional Integral Differential (PID) control 46 Chapter 5 Experiments and Results 50 5.1 Developed AHRS 50 5.2 UDR Experiments 54 Chapter 6 Conclusion 59 References 60 -
dc.language eng -
dc.publisher TRAN NGOC HUY -
dc.title UDR을 위한 하드웨어 설계 연구 -
dc.title.alternative A Study on a Hardware Design for an Underwater Disk Robot -
dc.type Thesis -
dc.date.awarded 2012-02 -
dc.contributor.alternativeName TRAN NGOC HUY -
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기계공학과 > Thesis
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